This repository contains source code associated with the paper “Unified 3D Bipedal Locomotion Control via Ground Reaction Force-Based Joint Compliance Modulation” by Shunsuke Koseki, Omid Mohseni, Mitsuhiro Hayashibe, Maziar A. Sharbafi, Andre Seyfarth, and Dai Owaki.

The code implements a biologically inspired locomotion framework, termed Concerted Control, to simulate dynamically stable 3D bipedal walking across a wide range of walking speeds (0.7–1.8 m/s), without imposing constraints on planar or rotational movements. The simulations are conducted in the MuJoCo physics engine.

The repository provides two actuation implementations: joint-level actuation and muscle-level actuation. Both implementations extend the original sagittal-plane Concerted Control framework (https://ieeexplore.ieee.org/document/10891170) to full 3D walking by incorporating frontal-plane hip abduction–adduction control based on ground reaction force (GRF) feedback.

The repository enables reproduction and analysis of stable 3D walking gaits, including joint kinematics, GRFs, joint torques, and muscle activation patterns, facilitating direct comparison with human experimental data.